Mobile Panel Cleaner

ABSTRACT

A mobile panel maintenance system including a mobile panel maintenance unit having a base supported for translational motion over a surface within a panel array and a carriage movably mounted to the base to position a panel maintenance assembly in relation to a panel surface for panel maintenance.

This United States Non-Provisional Patent Application claims the benefitof U.S. Provisional Patent Application No. 62/771,755, filed Nov. 27,2019, hereby incorporated by reference in the entirety herein.

I. FIELD OF THE INVENTION

A mobile panel maintenance system including a mobile panel maintenanceunit having a base supported for translational motion over a surface anda carriage movably mounted to the base to position a panel maintenanceassembly in relation to a panel for panel maintenance.

II. BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is perspective view of an illustrative embodiment of a mobilepanel cleaner having a one carriage arm.

FIG. 2 is perspective view an illustrative embodiment of a mobile panelcleaner having a plurality of carriage arms.

FIG. 3 is a block diagram of a particular embodiment of a mobile panelmaintenance system including hardware and software components.

FIG. 4 is an enlargement of a particular embodiment of client computingdevice shown in FIG. 3 .

FIG. 5 is perspective view of the illustrative embodiment of the mobilepanel cleaner shown in FIG. 1 with removal of a portion of the externalhousing.

FIG. 6A is first end elevation view of the illustrative embodiment ofthe mobile panel cleaner shown in FIG. 5 .

FIG. 6B is an optional first end elevation view of the illustrativeembodiment of the mobile panel cleaner shown in FIG. 5 .

FIG. 7A is a second end elevation view of the illustrative embodiment ofthe mobile panel cleaner shown in FIG. 5 .

FIG. 7B is an optional second end elevation view of the illustrativeembodiment of the mobile panel cleaner shown in FIG. 5 .

FIG. 8 is a first side elevation view of the illustrative embodiment ofthe mobile panel cleaner shown in FIG. 5 .

FIG. 9 is a second side elevation view of the particular illustrativeembodiment of a mobile panel cleaner shown in FIG. 5 .

FIG. 10 is a top plan view of the illustrative embodiment of a mobilepanel cleaner shown in FIG. 5 .

FIG. 11 is a bottom plan view the illustrative embodiment of a mobilepanel cleaner shown in FIG. 5 .

FIG. 12A is a second side elevation cross section view 12A-12A shown theillustrative embodiment of a mobile panel cleaner shown in FIG. 10 .

FIG. 12B is an enlarged view of the fluid ports depicted in FIG. 12A.

FIG. 13 is first end elevation view of the illustrative embodiment ofthe mobile panel cleaner shown in FIG. 2 with removal of a portion ofthe external housing.

FIG. 14 is a second end elevation view of the illustrative embodiment ofthe mobile panel cleaner shown in FIG. 13 .

FIG. 15 is a first side elevation view of the illustrative embodiment ofthe mobile panel cleaner shown in FIG. 13 .

FIG. 16 is second side elevation view of the illustrative embodiment ofthe mobile panel cleaner shown in FIG. 13 .

FIG. 17 is top plan view of the illustrative embodiment of the mobilepanel cleaner shown in FIG. 13 .

FIG. 18 is bottom plan view of the illustrative embodiment of the mobilepanel cleaner shown in FIG. 13 .

FIG. 19 is cross section view 19-19 as shown in FIG. 6A of a particularembodiment of the panel maintenance unit including a sweep in the formof a roller brush.

FIG. 20 is cross section view 20-20 as shown in FIG. 6A of a particularembodiment of the panel maintenance unit including a sweep in the form aroller brush, a wiper, and a plurality of fluid ports.

FIG. 21 is cross section view 21-21 as shown in FIG. 6A of a particularembodiment of the panel maintenance unit including a sweep in the formof a pair of liner sweep, a pair of wipers, and a plurality of fluidports disposed medially between the pair of liner sweeps.

FIG. 22 is cross section view 22-22 as shown in FIG. 6A of a particularembodiment of the panel maintenance unit including a sweep in the formof a pair of roller brushes, a pair of wipers, and a plurality of fluidports disposed medially between the pair of roller brushes.

FIG. 23 is an illustration of the components included in the embodimentof the fluid catch and fluid delivery assembly shown in the illustrativeembodiment of the mobile panel cleaner shown in FIG. 12A.

FIG. 24 is an illustration of the components included in the embodimentof the fluid reservoir and fluid heating system shown in theillustrative embodiment of the mobile panel cleaner shown in FIG. 12A.

III. DETAILED DESCRIPTION OF THE INVENTION

Mobile Panel Maintenance System. With general reference to FIGS. 1through 24 , embodiments of a panel maintenance system (1) (alsoreferred to as “the system”) can include a mobile panel maintenance unit(2) including a mobile base (3), a carriage arm (4) and one or morepanel maintenance assemblies (5). One or more logic control circuits (8)operate to generate translational motion of the mobile base (3) over asupport surface (9) to position the mobile base (3), the carriage arm(4), and the one or more panel maintenance units (5) in spatial relationto a panel external surface (10) to allow maintenance of the panel (6)including, but not necessarily limited to, removal of foreign matter(7). The one or more logic control circuits (8) can, but need notnecessarily, be communicatively coupled to one or more client computingdevices (11) directly, or indirectly through one or more servercomputers (19) over a public network (13), such as an Internet (14), acellular-based wireless network(s) (15), or a local network (16)(individually or collectively the “network (13)”). The network (13) cansupport a mobile panel maintenance program (17) (also referred to as the“program”) maintained in a non-transitory computer readable media (18)of the one or more server computers (19) accessible by browser basedon-line processing or downloadable by one or more client computingdevices (11) or one or more panel maintenance units (2). The program(17) upon execution by a server processor (20) can coordinatecommunication between one or more client computing devices (11) toestablish on-line or off-line wired or wireless connection to implementand differentially allocate the functions of the program (17) between aplurality of client computing devices (11) and one or more mobile panelmaintenance units (2).

Now with primary reference to FIGS. 3 and 4 , the system (1), the mobilepanel maintenance unit (2), server processor (20), the a non-transitorycomputer readable media (18), the program (17) including programsubroutines, modules, or partitions of the logic executable undercontrol of the server processor (20) to carry out functions of theprogram (17), logic control circuits, controllers and other elements ofembodiments may be shown in block diagram form. Moreover, specificimplementations shown and described are exemplary only and should not beconstrued as the only way to implement the present disclosure unlessspecified otherwise herein. Additionally, block definitions andpartitioning of logic between various blocks is exemplary of a specificimplementation. However, the present disclosure may be practiced bynumerous other partitioning solutions. For the most part, detailsconcerning timing considerations and the like have been omitted wheresuch details are not necessary to obtain a complete understanding of thepresent disclosure by persons of ordinary skill in the relevant art.

Those of ordinary skill would appreciate that the various illustrativelogic blocks, modules, circuits, and algorithm described in connectionwith embodiments disclosed herein may be implemented as electronichardware, computer software, or combinations of both. To clearlyillustrate this interchangeability of hardware and software, variousillustrative components, blocks, modules, circuits, and acts aredescribed generally in terms of their functionality. Whether suchfunctionality is implemented as hardware or software depends upon theparticular application and design constraints imposed on the overallsystem (1). Skilled artisans may implement the described functionalityin varying ways for each particular application, but such implementationdecisions should not be interpreted as causing a departure from thescope of the embodiments described herein.

When implemented with hardware, the embodiments disclosed herein may beimplemented or performed with a general purpose processor, a specialpurpose processor, a Digital Signal Processor (DSP), an ApplicationSpecific Integrated Circuit (ASIC), a Field Programmable Gate Array(FPGA), or other programmable logic device, discrete gate or transistorlogic, discrete hardware components, or any combination thereof designedto perform the functions described herein. A general-purpose processormay be a microprocessor, but in the alternative, the processor may beany conventional processor, controller, microcontroller, mobileprocessor, or state machine. When executing software for carrying outprocesses for embodiments described herein, a general-purpose processorshould be considered a special-purpose processor configured for carryingout such processes. A processor may also be implemented as a combinationof computing devices, for example, a combination of a DSP and amicroprocessor, a plurality of microprocessors, one or moremicroprocessors in conjunction with a DSP core, or any other suchconfiguration.

In addition, it is noted that the embodiments may be described in termsof a process that is depicted as a flowchart, a flow diagram, astructure diagram, or a block diagram. Although a flowchart may describeoperational acts as a sequential process, many of these acts can beperformed in another sequence, in parallel, or substantiallyconcurrently. In addition, the order of the acts may be re-arranged. Aprocess may correspond to a method, a function, a procedure, asubroutine, or a subprogram. Furthermore, the methods disclosed hereinmay be implemented in hardware, software, or both. If implemented insoftware, the functions may be stored or transmitted as the program (17)including one or more instructions or code on the non-transitorycomputer-readable medium (18). Computer-readable media (18) includescomputer storage media and communication media including any medium thatfacilitates transfer of the computer program (17) from one place toanother.

It should be understood that any reference to an element herein using adesignation such as “first,” “second,” and so forth does not limit thequantity or order of those elements, unless such limitation isexplicitly stated. Rather, these designations may be used herein as aconvenient method of distinguishing between two or more elements orinstances of an element. Thus, a reference to first and second elementsdoes not mean that only two elements may be employed or that the firstelement must precede the second element in some manner. In addition,unless stated otherwise, a set of elements may comprise one or moreelements.

Global Positioning System. Now, with primary reference to FIGS. 3 and 4, in particular embodiments, the system (1) can further communicate witha global positioning system (21) (“GPS (21)”). Each of the plurality ofclient computing devices (11) and each of the plurality of mobile panelmaintenance units (2) within the system (1) can further include a globalpositioning receiver (22) operably coupled to the GPS (21). The term“global positioning system (21),” for the purposes of this invention,means a plurality of earth-orbiting satellites (23) each transmitting asatellite positioning signal (24) that by operation of the globalpositioning receiver (22) and a GPS signal analyzer (25) of the program(17) results in determination of the location coordinates (26) of eachof the plurality of mobile panel maintenance units (2) and each of theclient computing devices (1), including one or more of: a longitude “x”(26′), a latitude “y” (26″) or altitude “z” (26″′) of the globalpositioning signal receiver (22) within each of the one or more mobilepanel maintenance units (2) or within each of the plurality of clientcomputing devices (11) which location coordinates (26) can be sharedbetween the plurality of client computing devices (11) and the pluralityof mobile panel maintenance units (2).

In particular embodiments, the GPS system (21) can be augmented by theuse of a real time kinematics system (27) (“RTK”) in which each of theplurality of client computing devices (11) and each of the plurality ofmobile panel maintenance units (2) within the system (1) can furtherinclude a RTK receiver (186). A stationary base station (28)communicates with one or more mobile panel maintenance units (2). Thestationary base station (28) re-broadcasts the phase of the carrier wavethat it observes from GPS (21), and the mobile panel cleaners (2) byoperation of the GPS signal analyzer (25) compare their own phasemeasurements of the carrier wave with the one received from thestationary base station (28). This allows calculation of the relativelocation coordinates (26) of each mobile panel maintenance unit (2) tothe stationary base station (28) by the GPS signal analyzer (25). Thetypical nominal accuracy can be about one centimeter horizontally andabout two centimeters vertically.

Map Database. Again, with primary reference to FIGS. 3 and 4 , inparticular embodiments, the system (1) can further include a mapdatabase management system (29) (also referred to as the “map database(29)”) which stores and serves spatial information (30). As illustrativeexamples, the map database (29) can comprise one or more of: GOOGLEMAPS®, MAPQUEST®, or other map databases, accessible to allow retrievaland depiction of spatial information (30) in the form of graphicaltwo-or three-dimensional spatial information (31), which can take theform of one or more of geo-planar maps, three dimensional maps, climatemaps, geopolitical maps, or the like. In particular embodiments thespatial information (30) can be depicted as a graphical geo-planar mapincluding, at the depicted scale, certain geographic and administrativeboundaries such as such as states, counties, cities, towns orresidential areas and upon increasing scale can further depict roadways,manmade structures, and in the case of certain embodiments of the system(1) can further depict, the boundaries of individual panels (6) or panelarrays (6′).

Panel and Panel Array. Now, with primary reference to FIGS. 1 through 4, in particular embodiments a panel array (6′) can include a pluralityof panels (6). In particular embodiments, the panel (6) or the panelarray (6′) can be solar panel or a solar panel array in which each panel(6) (or bifacial panel) can include a light transmissive layer (32) (oropposed light transmissive layers) which receives incoming sunlight (orreflected sunlight or combinations thereof). A panel array (6′) or eachpanel (6), can, but need not necessarily, be disposed on ground mountedsupport structures (33). The ground mounted support structures (33) canprovide immovable fixed tilt panels (6) or can use a one axis, two axis,or three axis solar tracker (34) that operates to orient the panel array(6′) or each of a plurality of panels (6) toward the Sun to minimizeangle of incidence between the incoming sunlight and the lighttransmissive layer (32) of the panel (21). While particular illustrativeexamples described herein include a panel (6) having a structure whichreceives incoming sunlight through a light transmissive layer (32) suchas a solar photovoltaic panel (6″) which produces direct current whichcan be converted to alternating current and supplied to an electricalgrid (35) or a solar thermal collector panel (6″′) which absorbs heat byabsorbing sunlight which can be transferred to a circulating fluidflowing within circulation conduits for space heating, production of hotwater, or production of steam for generation of electricity by the useof steam turbines and supplied to an electrical grid (35), this is notintended to preclude embodiments in which the panel (6) defines anexternal surface of an object or component accessible by operation of amobile panel maintenance unit (2), such as a mirror material, a panelhousing, glazing material, sheathing material, or pavement material. Forthe purposes of this invention, term “panel array (6′)” means one or alinked collection panels (6) arranged in a group at a common geographiclocation.

Panel Array Database. Again, with primary reference to FIGS. 3 and 4 ,in particular embodiments, the system (1) can, but need not necessarily,further include a panel array database (36) including panel or panelarray data (27). The panel array data (37) can include panel or panelarray spatial information (38) including one or more of: panel arraylocation coordinates (39) (longitude “x”, latitude “y”, altitude “z”),panel location coordinates (40) defining the dimensional boundaries ofthe panel array (6′) or dimensional boundaries of the panel (6), or thedimensional boundaries of the light transmissive layer (32), or acurrent panel orientation plane (41) of a light transmissive layer (32),or combinations thereof. A panel array data module (12) of the program(17) can function to retrieve and download panel array data (37) to thelogic control circuits (8) of one or more mobile panel cleaners (2).

Client Computing Device. Again, with primary reference to FIGS. 3 and 4, embodiments of the system (1) can, but need not necessarily, includeone or more client computing devices (11) each including aclient deviceprocessor (42) communicatively coupled to a client device non-transitorycomputer readable media (43) containing computer executable instructionsincluding in whole or in part the program (17) to implement thefunctionalities of the client computing device (11) in the system (1).The processor can be central processing unit for mobile computers oftenreferred to as a mobile processor, as examples: APPLE® A13 Bionic,Qualcomm Snapdragon 855+, Kirin 990 5G, Samsung Exynos 9825, Intel Atom,and Intel Core M. The client computing device (3) can as illustrativeexamples be: a desktop computer device or a mobile computer device, suchas, personal computers, slate computers, tablet or pad computers,cellular telephones, personal digital assistants, smartphones,programmable consumer electronics, or combinations thereof. The program(17) can be accessed or downloaded to the client computing device (11)from the server computer(s) (19) allowing a client computing device (11)and the client computing device user (44) (also referred to as a “user(44)”) to access to the functionalities of the system (1) whetheron-line or off-line depending on the application.

In particular embodiments, the program (17) under control of the serverprocessor (20) can implement the functionalities of the system (1)differently among each of the plurality of client computing devices(11). As an illustrative example, the program (17) can allocate toadministrator users (44A) administrator functions (44A′) of the program(17) to a first subset of the client computing devices (44A″) (alsoreferred to as “administrator computing devices (44A″)”) which can becommunicatively coupled to the logic control circuits (8) of one or moremobile panel cleaners (2) to control and monitor movement of each of aplurality mobile panel cleaners (2), and can allocate non-administratorusers (44B) non-administrator functions (44B′) to a second set of clientcomputing devices (44B″) (“non-administrator computing devices (44B″)”)which can, as an example, limit non-administrator users (44B) touploading panel array data (37) to the panel array database (36) or themap database (29), or make a request for movement of one or more mobilepanel maintenance units (2) to an administrator computing devices (44A)and monitor movement of a subset of the plurality mobile panelmaintenance units (2), but prohibit communicative coupling with thelogic control circuits (8) of the plurality of mobile panel maintenanceunits (2).

User Interface. In particular embodiments, each of the one or moreclient computing devices (11) can include a browser (45) such asMicrosoft's INTERNET EXPLORER®, GOOGLE CHROME®, or the like, whichfunctions to download and render multimedia content that is formatted in“hypertext markup language” (HTML). In this environment, the servercomputer (19) can be programmed to implement the most significantportions of a user interface (46). As to these embodiments, the program(17) including a user interface module (47) which implements the userinterface (46) can be resident in the server (19) and the one or moreclient computing devices (11) within the system (1) can use the browser(45) to simply receive downloaded content and to relay user commands(48) back to the server computer (19). The server computer (19) canrespond by formatting additional content and downloading the additionalcontent to the requesting client computing device (11).

In other embodiments, the server computer (19) can be used primarily asa source of images and data, with primary responsibility forimplementing the user interface (46) being placed upon each of theplurality of client computing devices (11). As to these embodiments,each of the one or more client devices (11) can run the program (17)implementing the user interface (46) to retrieve images and data fromthe server computer (19). While illustrative examples in thisdescription may attribute a certain type of data to a certain servercomputer (19), for clarity, it is to be understood that various types ofdata may reside in one server computer (19) or one type of data can bedistributed among a plurality of server computers (19) and embodimentsof the invention can utilize server computers (19) to a lesser orgreater extent depending upon the application. The program (17) furtheroperates to provide images and data obtained from one or more servercomputers (19) in a common format within the system (1).

A user (44) (44A) (44B) can enter commands and information (collectively“user commands (48)”) into one or more of client computing devices (11)through input devices (49) such as a keyboard, a pointing device such asa mouse; however, any method or device that converts user (44) actioninto commands and information can be utilized including, but not limitedto: a microphone, joystick, game pad, touch screen, or combinationsthereof. In particular embodiments, the user interface (46) can in partbe presented as an interactive graphical user interface (46′) on adisplay surface (50) of the client computing device (11). In addition tothe display surface (50), each of the one or more client computingdevices (11) can further include other peripheral output devices (51),such as: speakers and printers.

A “user command” occurs when the user (44) operates an applicationfunction through the use of a command which for example can includepressing or releasing the left mouse button while a pointer is locatedover a control icon (or other interactive field which activates afunction) displayed in the graphic user interface (46′). However, it isnot intended that a “user command” be limited to the press and releaseof the left button on a mouse while a pointer is located over a controlicon, rather, a “user command” is intend to broadly encompass a commandby the user (44) through which a function of the program (17) (or otherprogram, application, module or the like) including the user interfacemodule (47) which implements the graphic user interface (46′) can beactivated or performed, whether through selection of one or a pluralityof control icon(s).

Mobile Panel Maintenance Unit. Now, with general reference to FIGS. 1through 23 , embodiments of the mobile panel maintenance unit (2) caninclude individually or in combination a mobile base (3) (also referredto as “the base (3)”) supported for translational motion over a supportsurface (9); a carriage arm (4) (also referred to as “the carriage(43)”) movably mounted to the base (3), a panel maintenance assembly (5)which can be positioned in relation to the panel (6), panel array (6′)or the surface or the light transmissive layer (32) of a panel (6) bytranslational motion of the base (3) over the support surface (9), bymovement of the carriage (43), or orientation of the panel maintenanceassembly (5), or combinations thereof.

Mobile Base

Mobile Base Drive Assembly. Again, with general reference to FIGS. 1through 18 and with specific reference to FIGS. 6A and 6B and 7A and 7B,embodiments of the mobile base (3) can include a chassis (52)interconnected with a suspension system (53) configured to allowsteerable translational motion over a support surface (9). Thesuspension system (53) can have spatially fixed, springingly connected,or pivotally mounted axles (54) disposed in spatial arrangement with thechassis (52). Wheels (55) can be rotatably mounted to the axles (54). Inparticular embodiments, the wheels (55) can, but need not necessarily,be configured as one or more drive sprockets (56) which engage and drivea continuous track(s) (57). The chassis (52) can further support a drivemotor (58) (whether electric powered or fuel powered or a combinationthereof), and a gearbox (59) configured to rotatingly drive at least onewheel (55), or drive sprocket (56) engaged to a continuous track (57),of the mobile base (3) to propel the mobile base (3) over the supportsurface (9). In particular embodiments, a steering linkage (60) caninterconnect a steering actuator (61) with at least one wheel (55)rotatably mounted to a pivotally mounted axle (54). The steeringactuator (61) applies push or pull forces to the steering linkage (60)to pivot at least one wheel (55) about the pivotal mount to steer themobile base (3) over the support surface (9). In other embodiments, twocontinuous tracks (57) driven at different rates of speed can act toprovide push pull forces to steer the mobile base (3) over the supportsurface (9). While the illustrative embodiments of the mobile base (3)depicted in the Figures include continuous tracks (57) this is notintended to preclude embodiments having wheels (55) which revolve on theaxle (54), skis and driven tracks, or other means to propel the mobilebase (3) over the support surface (9).

Navigation Sensors. Now with general reference to FIGS. 1 through 24 ,the mobile base (3) can, but need not necessarily, include one or morenavigation sensors (62) (“NS”) to sense the position of the mobile panelmaintenance unit (2) in spatial relation to a panel (6) or each panel(6) in a panel array (6′) to allow orientation of the panel maintenanceassembly (5) in relation to the panel (6), the orientation plane (41) ofthe panel (6) or light transmissive layer (32) of each panel (6),including as illustrative examples: lidar sensor, image sensor (camera),infrared sensor (infrared camera), accelerometer, capacitive orcapacitive displacement sensors, doppler effect sensor, eddy currentsensors, inductive sensors, magnetic, photoelectric sensors,reflectivity sensors, laser-range finder sensors, infrared sensors,charge coupled sensors, radar sensors, sonar, ultrasonic sensors, fiberoptics sensor, hall effect sensors, touch switch, or combinationsthereof.

Environmental Sensors. Again, with general reference to FIGS. 1 through24 , the mobile panel cleaner (2) can, but need not necessarily, includeone or more environmental sensors (“ES”) (63) to monitor environmentalconditions (64) including, temperature sensors, snow sensors, rainsensors, humidity sensors, dew warning sensors, pyranometer sensors,particulate sensors, panel reflectivity sensors, panel lighttransmissivity sensors, or combinations thereof.

Fluid Reservoir. Again, generally referring to FIGS. 1 through 24 ,embodiments of the chassis (52) can, but need not necessarily, furthersupport a fluid reservoir (65) adapted to contain an amount of panelcleaning fluid (66) compatible with the panel (6) (or components of apanel (6) such as the panel housing or the light transmissive layer (32)or compatible with environmental conditions (64) surrounding the panel(6) (as illustrative examples temperature, humidity, wind, rain, snow,particulate, pollutants, or the like), or combinations thereof. Inparticular embodiments, the fluid reservoir (65) can, but need notnecessarily, include one or a plurality of fluid chambers (67) eachseparately containing an amount of panel cleaning fluid (66) (whetherthe same or different fluids) which can be separately or proportionallymixed and delivered from the fluid reservoir (65). In particularembodiments, the fluid reservoir (65) can take the form of a fluidreservoir housing (68) configured to matingly receive one or more fluidcontainers (69) (whether refillable or disposable). The fluid container(69) can be removed and serially replaced by additional fluid containers(69) which contain the same or different panel cleaning fluids (66) orfluid mixtures.

Fluid. As illustrative examples the panel cleaning fluid (66) cancomprise or consist of: water, aqueous solutions of alcohols (monohydricalcohols, methanol, ethanol, isopropanol, dihydric alcohols, diethyleneglycol, 1, 2 propylene glycol, dipropylene glycol). dihydric ethers,alkylphenoxypolyethanoxyethanol, ethylenediamine, ethylene oxide, ionicor non-ionic surfactants, polyphosphate, ammonia, detergent(s),methylene chloride, monoalkyl ether, alkali metal phosphate, sodiumalkylbenzenesulfonate, or combinations thereof; however, this list isnot meant to be exhaustive with respect to panel cleaning fluids (66)which can be utilized depending on the type of panel (6) (or panelcomponents), the ambient environmental conditions (64), or the type offoreign matter (59) (debris, particulate, pollutants, moisture, frost,snow, or other types of foreign matter (7)) disposed on the panel (6) atthe time of maintenance.

Fluid Heater. Now, primary reference to FIGS. 3, 12A, 23 and 24 , inparticular embodiments, a fluid heater (70) can be thermally coupledwith the panel cleaning fluid (66) contained in or delivered from thefluid reservoir (65) to increase the temperature of the panel cleaningfluid (66). In particular embodiments, the panel cleaning fluid (66) canbe sufficiently heated to generate a heated gas (71), such as an amountof water converted to an amount of steam. The fluid heater (70) can takea numerous and wide variety of forms. As one illustrative example, thefluid heater (70) can be an immersion heater (72) disposed directly inthe fluid reservoir (68), or as a further illustrative example can be acirculation heater (73) separate from the fluid reservoir (65) includingone or a plurality of separate serially connected heating chambers (74)defining a fluid flow path from a heater inlet port (75) to a heateroutlet port (76). Each heating chamber (74) can be provided with one ormore electric immersion heating element(s) (72) and can further providea fluid temperature sensor (77) for producing a fluid temperature signal(77′) indicative of the fluid temperature (77″). The immersion heatingelement (72) of each heating chamber (74) can be independentlycontrolled by a fluid temperature controller (78) (separate from orunder control of the processor (20)) responsive to fluid temperaturesignals (77′) from each of the fluid temperature sensors (77) whichallows the immersion heating element (72) in the fluid reservoir (65) orin a heating chamber (74) to be energized only if the sensed fluidtemperature (77″) in that heating chamber (74) falls below apre-selected fluid temperature (77″). The number of immersion heatingelements (72) energized can be regulated based on one or more of: fluidflow rate, pre-selected fluid temperature, and heating capability of theimmersion heating elements (72). This particular description of a fluidheater (70) is not intended preclude the use of other devices or methodsof increasing the temperature of the panel cleaning fluid (66); and anymanner of increasing the temperature of the fluid (66) can be utilizedto satisfy a particular application.

As another illustrative example, the fluid heater (70) can take the formof a catalyst bed (79) fluidically coupled to the fluid reservoir (65).The catalyst bed (79) having an internal surface which supports acatalyst (80) in the form of a group 7, 8, 9, 10 or 11 transition metal.The panel cleaning fluid (66) delivered from the fluid reservoir (65)can be in the form of a mixture of peroxide and an organic compound in aratio from about 0.2:1 to about 6:1. The reaction can be exothermic, soafter the reaction has started it may continue with little or noadditional heat input. The catalyst bed (79) can achieve temperatures ofbetween about 150° C. and 250° C. with the products of water, hydrogen,carbon dioxide, and carbon monoxide in the form of heated gases orheated liquid vapor.

Fluid Flow Generator. Again, referring primarily to FIGS. 3, 12A, 23 and24 , the chassis (52) can, but need not necessarily, further support afluid flow generator (81) operable to generate a fluid flow of the panelcleaning fluid (66) contained in the fluid reservoir (65). Asillustrative examples, the fluid flow generator (81) can take the formof a submersible pump located inside of the fluid reservoir (65) or apump located outside of the fluid reservoir (65). As one illustrativeexample, the fluid flow generator (81) can be a 12 Volt fluidcirculation pump having magnetic drive motor with sealed pump chamberavailable from BAT, Inc. PN ACP3 or PN ACP3-16.

Fluid Catch. Again, referring primarily to FIGS. 1 and 12A, embodimentsof the chassis (52) can, but need not necessarily, further support afluid catch (82). In particular embodiments of the fluid catch (82) caninclude one or a plurality of open-ended catch conduit(s) (83)terminating in a conduit open end (84) defining a catch open area (85).In particular embodiments, the conduit open end (84) can, but need notnecessarily, be configured as long, narrow open receptacle. The fluidcatch (82) can by which by location of the mobile base (3) be aligned tocatch panel cleaning fluid (66) (or other fluids such as melted snow orice, rain, or dew) from the panel (6) during panel maintenance. Thefluid catch (82) can be connected by a catch conduit (86) to a fluidcatch reservoir (87). Panel cleaning fluid (66) (or other fluids) caughtwithin the fluid catch (82) can pass through the catch conduit (86) tobe received by the catch reservoir (87). In particular embodiments, thepanel cleaning fluid (66) received by the catch reservoir (87) can passthrough a fluid filter assembly (88) to remove particulates carried inthe panel cleaning fluid (66) and may be returned to the fluid reservoir(65) for re-use. With primary reference to FIG. 12A, a fluid catchsupport (89) can dispose the fluid catch (82) in spatially fixedimmovable relation or in movable relation to the chassis (52) of themobile base (3) by operation of a two or three-dimensional catch gimbal(90). The mobile base (3) coordinated with a movement of catch support(89)) can be located in relation to the dimensional boundaries of apanel (6) and the current orientation plane (41) of the panel (6) orlight transmissive layer (32) of the panel (6), to correspondinglydispose the fluid catch (82) at a position in relation to the panel (6)to allow all or a part of the panel cleaning fluid (66) (or other fluid)flowing off from the panel (6) or the surface of the light transmissivelayer (32) of a panel (6), to be received by the fluid catch (82).

Gas Flow Generator. Again, with primary reference to FIGS. 12A and 23 ,the chassis (52) can, but need not necessarily, further support a gasflow generator (91) operable to generate a flow of gas (92). The gasflow generator (79) can take the form of a compressor having anintermittent duty cycle or a gas pump which has a continuous duty cycle,or a vacuum pump, or a combination thereof; although these illustrativeexamples are not intended obviate other devices that can generate a flowof gas (92). Typically, the gas (93) will comprise a mixture ofatmospheric gases; however, this example does not preclude the use ofother purified gases or mixtures of gases in containers carried by themobile base (3).

Power Source. Again, with primary reference to FIGS. 3, 6A, 6B thechassis (45) can further support a power source (82) for operation ofthe components of the mobile panel maintenance unit (2). The powersource (82) can take the form of an alternating current source or adirect current source, or a combination thereof, provided by one or moreof interconnected network for delivering electricity to an electricaloutlet, or generated by a generator, alternator, battery (213), or thelike.

The Base Tower. Now with primary reference to FIGS. 5 through 18 , inparticular embodiments, the chassis (52) can further support a tower(94) which extends upwardly from a tower first end (95) to terminate ina tower second end (96). In particular embodiments, the tower first end(95) can be immovably fixed in relation to the mobile base (3) andmovement of the mobile base (3) can position the tower (94) in the xplane and the y plane and rotate the tower about the vertical axis (inthe z plane) in relation to a panel (6). The tower second end (96)supports a carriage arm pivot (97) which defines a carriage arm rotationaxis (98) about which a carriage arm (4) rotates to locate a panelmaintenance assembly (5) in spatial relation to a panel (6) for panelmaintenance. While the tower (94) depicted includes a plurality ofupright members (99) disposed in rigid fixed relation by a plurality ofcross members (100) with a pair of pivot bearing surfaces (101) (102)disposed in opposed spaced apart relation which support the carriage armpivot (97); however, this is not intended to preclude embodiments whichprovide other forms of structural support for the pair of pivot bearingsurfaces (101) (102). In particular embodiments which include aplurality of carriage arms (4) (4′), the tower (94) can support aplurality of pairs of pivot bearing surfaces (101) (102), each of thepairs of pivot bearing surfaces (101) (102) configured to support acorresponding carriage arm pivot (97) about which a carriage arm (4)(4′) pivots.

Carriage Arm. In particular embodiments, the carriage arm (4) (4′)comprises an elongate structure having a carriage arm length disposedbetween a carriage arm first and second ends (103) (104). While thecarriage arm (4) (4′) shown in the Figures depicts a framework includinga plurality of elongate load bearing framework members (105)interconnected by framework crossmembers (106), embodiments can compriseany elongate structure which can rotate about the carriage arm pivot(97) proximate the carriage arm first end (103) and bear the load of thepanel maintenance unit (5) proximate the carriage arm second end (104).In particular embodiments, the carriage arm (4) (4′) can be configuredto pivotally couple to the carriage arm pivot (97) proximate thecarriage arm first end (103). The carriage arm (4) can extend outwardfrom the carriage arm rotation axis (98) about the carriage arm pivot(97) to terminate in the carriage arm first end (103). The extendingcarriage arm (4) can be coupled to a carriage arm actuator (107)operable to rotate the carriage arm (4) about the carriage arm pivot(97) to correspondingly move the carriage arm second end (104). As shownin the Figures, the carriage arm actuator (107) can, but need notnecessarily, be a carriage arm linear actuator (107′) having an actuatorfirst end (108) coupled proximate the carriage arm first end (103) andhaving an actuator second (109) coupled to the mobile base (3), thetower (94), the chassis (52) or base housing (110)). Upon operation, thecarriage arm linear actuator (107′) can increase or decrease in actuatorlength to corresponding rotate the carriage arm (4) about the carriagearm pivot (97) to move the carriage second end (104) in opposingdirection. In particular embodiments, the carriage arm linear actuator(107′) can, but need not necessarily, be a motor coupled to a lead screwwith a lead nut or ball nut which travels along the lead screw as itrotates to convert rotational motion into linear displacement to rotatethe carriage arm (4) about the carriage arm pivot (97). In particularembodiments, the carriage arm linear actuator (107′) can, but need notnecessarily, be a hydraulic or pneumatic cylinder which inherentlyproduce linear motion. Alternately, the carriage arm actuator (107) cancomprise any mechanism which operates to rotate the carriage arm (4)about the carriage arm pivot (97) including as illustrative examples:cam actuator, winch, wheel and axle, or a sun gear which drives planetgears which correspondingly drive a ring gear about the carriage armpivot which correspondingly rotates the carriage arm (4).

The carriage arm (4) (4′) supports a pair of pivot bearing surfaces(111) (112) disposed in opposed spaced apart relation proximate thecarriage arm second end (104) which support a panel maintenance assemblypivot (113) defining a panel maintenance assembly rotation axis (114)about which a panel maintenance assembly (5) can rotate to locate thepanel maintenance assembly (5) in spatial relation to a panel (6) forpanel maintenance. A panel maintenance assembly actuator (115) can bedisposed between the carriage arm (4) proximate the carriage arm secondend (104) and the panel maintenance assembly (5). The panel maintenanceassembly actuator (115) can be operated to rotate the panel maintenanceassembly (5) about the panel maintenance unit pivot (113) tocorrespondingly adjust the location of the panel maintenance assemblyfirst end (116) and the panel maintenance assembly second end (117) inspatial relation to a panel (6) for panel maintenance. As shown in theFigures, the panel maintenance assembly actuator (115) can, but need notnecessarily, be a panel maintenance assembly linear actuator (115′)having an actuator first end (118) coupled proximate the carriage armsecond end (104) and having an actuator second (119) coupled to thepanel maintenance assembly (5). Upon operation, the panel maintenanceassembly linear actuator (115′) can increase or decrease in actuatorlength to corresponding rotate the panel maintenance assembly (5) aboutthe panel maintenance unit pivot (113) to move the maintenance assemblyfirst and second ends (116) (117) in opposing direction. In particularembodiments, the panel maintenance assembly linear actuator (115′) can,but need not necessarily, be a motor coupled to a lead screw with a leadnut or ball nut which travels along the lead screw as it rotates toconvert rotational motion into linear displacement to rotate the panelmaintenance unit (5) about the panel maintenance unit pivot (113). Inparticular embodiments, the panel maintenance assembly linear actuator(115′) can, but need not necessarily, be a hydraulic or pneumaticcylinder which inherently produce linear motion. Alternately, the panelmaintenance assembly actuator (115) can comprise any mechanism whichoperates to rotate the panel maintenance unit about the panelmaintenance unit pivot (113) including as illustrative examples:

cam actuator, winch, wheel and axle, or a sun gear which drives planetgears which correspondingly drive a ring gear about the panelmaintenance unit pivot which correspondingly rotates the panelmaintenance unit (5).

Panel Maintenance Assembly. Now referring generally to FIGS. 1 through22 , embodiments of the mobile panel maintenance unit (2) can furtherinclude a panel maintenance assembly (5) rotatably connected to thecarriage arm second end (104). In particular embodiments, the panelmaintenance assembly (5) includes a panel maintenance assembly body(120) (also referred to as the “body”) which can carry one or more of: abody position sensor (121), a blower assembly (122), outwardly extendingsweeps (123), one or more outwardly extending wipers (124), one or morefluid ports (125), or combinations thereof. In particular embodiments,the carriage arm (4) can operate to interchange a diverse set of panelmaintenance assemblies (5). In particular embodiments, the carriage arm(4) can include an adapter locking mechanism (126) used to attach anddetach each of a plurality of panel maintenance assemblies (5) to thecarriage arm (4). The purpose of the panel maintenance assembly (5) canbe changed by unlocking the adapter locking mechanism (126) and lockinga different panel maintenance assembly (5) on to the carriage arm (4).

Panel Maintenance Body. Again, with general reference to FIGS. 1 through22 , the body (120) can be have wide variety of configurations todispose the body position sensor (121), blower assembly (122), sweeps(123), wipers (124) or fluid ports (125), or combinations thereof, inrelation to the panel (6) or the light transmissive layer (32) of apanel (6). The body (120) can be mounted on a one axis, two axes, orthree axis panel maintenance gimbals (127). In particular embodiments,as depicted the body (120) can be mounted on a single axis to thecarrier arm (4) to afford opposite reciprocal travel of a body first end(116) and a body second end (117) allowing pivotal rotationalpositioning of the body (120). In particular embodiments, oppositereciprocal travel of the body first end (116) and a body second end(117) can be achieved by operation of the panel maintenance assemblyactuator (115) above described. In other particular embodiments, thebody (120) can be springingly coupled to the carriage arm (4) tospringingly resist rotation of the body (120) about the panelmaintenance unit pivot (113) from an initial first radial position (128)toward a second radial position (129) and bias rotation of the body(120) toward the initial first radial position (128).

Now, with primary reference to FIGS. 5 through 22 , the body (120) caninclude a panel maintenance body structural framework (130) including aplurality of elongate members (131) disposed in opposed relation adistance apart and correspondingly joined by first and second end pieces(132) (133). The panel maintenance body structural framework (130) cancarry the body position sensor (121), the blower assembly (122), thesweeps (123), the wipers (124) or fluid ports (125), or combinationsthereof. A body housing (134) can be attached to the structuralframework (130) to house components of the panel maintenance body (120).The body (120) can have a body length selected based upon theapplication or use, such as dimensions of the panels (6) in a panelarray (6′) (as shown in the illustrative examples of FIGS. 1 and 2 ).However, this description of the body (120) is not intended to precludeother structural configurations which can carry the body position sensor(121), the blower assembly (122), the sweeps (123), the wipers (124) orfluid ports (125), or combinations thereof. As shown in the illustrativeexample of FIGS. 5 through 22 , a particular embodiment of the body(120) can comprise a generally flat framework (130) including a pair ofelongate members (135) (136) disposed a distance apart in fixedimmovable spatial relationship. The framework (130) can be rotatablycoupled or springingly rotatably coupled a single axis to the carrierarm (4), as above described; however, this illustrative example is notintended to prelude embodiments mounted on two or three axis gimbals.

Panel Maintenance Body Position Sensor. Now with primary reference toFIGS. 5 through 22 , in particular embodiments, one or more bodyposition sensors (121) can sense the opposite reciprocal travel of thebody first end (116) and a body second end (117) in relation to a panel(6) or the light transmissive layer (32) of a panel (6). As illustrativeexamples, the one or more body position sensors (121) can include animage sensor (such as a camera), an infrared sensor (in such as aninfrared camera), an accelerometer, a capacitive or capacitivedisplacement sensor, a doppler effect sensor, an eddy current sensor, aninductive sensor, a photoelectric sensor, a reflectivity sensor, alaser-range sensor, an infrared sensor, radar sensor, a sonar sensor,ultrasonic sensor, a fiber optics sensor, a hall effect sensors, a touchswitch, or combinations thereof. In particular embodiments, one or moresensors can be disposed on the body framework (130) or body housing(134) proximate one or both of the first and second ends (116) (117) ofthe panel maintenance assembly (5). In particular embodiments, the oneor more sensors (121) can be disposed on a sensor support (137)outwardly extending from the panel maintenance unit (5) proximate thefirst and second ends (116) (117). The sensor support (137) or placementof the one or more sensors (121) on the sensor support (137) can disposethe one or more sensors (121) at a location in relation to the surfaceof the panel (6) to generate a sensor signal (138) which varies based onthe distance of the one or more sensors (121) from the surface of thepanel (6). The sensor signal (138) can be analyzed by the program code(17) under control of the processor (20) (42) to determine the distancebetween each of the first and second end (116) (117) of the body (120)and the surface of the panel (6) and then operate one or more of themobile base (2), the 15 carriage arm actuator (107), and the panelmaintenance unit actuator (115) to position the panel maintenance unit(5) in the proper position to begin maintenance of the panel (6). In theparticular embodiment shown in the Figures, a first and second sensorsupport (137A) (137B) can be correspondingly coupled proximate the bodyfirst and second end (116) (117). The first and second sensor support(137A) (137B) outwardly extend to a sensor support terminal end (139). Afirst and second body position sensor (121A) (121B) can becorrespondingly mounted proximate each sensor support terminal end(139). Each of the first or second body position sensors (121A) (121B)(or both) can generate a sensor signal (138) which varies based on thedistance of the first or the second sensor (121A) (121B) (or both) fromthe surface of the panel (6).

Blower Assembly. Now with general reference to FIGS. 5 through 22 ,embodiments of the panel maintenance assembly (5) can, but need notnecessarily, include a blower assembly (140) including a blower device(141) connected to an air distribution channel (142) which provides anair flow path (143) to distribute an air flow (144) from the blowerdevice (141) directed toward the panel (6). In particular embodiments,the blower device (141) can be a centrifugal blower (141′) as shown inthe Figures including circular or cylindrical impeller having a seriesof vanes driven by a motor. As the impeller rotates, the air surroundingit also rotates at the same speed. This action imparts a centrifugalforce to the air, causing it to move radially outwards to the walls ofthe blower or fan housing following a spiral trajectory increasing inpressure and velocity until it exits a blower discharge port (145) ofthe blower device (141). While the embodiment shown in the Figurescomprises a single stage centrifugal blower; this is not intended topreclude embodiments which may include one or more: single stagecentrifugal blowers, a dual stage centrifugal blower, a multistagecentrifugal blower, positive displacement blower; helical screw blower,high speed blower having a plurality of impellers, regenerative blower,or other blower device which generates air pressure at the dischargeport of in the range of about 5 pounds per square inch (“psi”) to about25 psi and generates a flow rate in the range of about 500 meters cubed(“m³”) to about 2000 m³ depending on the application.

The blower device (141) delivers the air flow (144) from the blowerdischarge port (145) to the air flow path (143) of the air distributionchannel (142). The air distribution channel (142) can, but neednecessarily, be configured as an elongate open sided channel (142′)disposed along substantially the entire length of the body (121). Inparticular embodiments, the air distribution channel (142) can comprisea tubular conduit having one or more apertures or an elongate slitthrough which air flow (144) egresses. The blower discharge port (145)of the blower device (141) can be coupled to a first channel end (146)to deliver the air flow (143) along the air flow path (143) defined bythe air distribution channel (142) to egress at the air distributionchannel open side (147). The air distribution channel (142) can beconfigured to be disposed in adjacent spaced apart relation to the panel(6) during panel maintenance such that the air flow (144) egressing fromthe open side (147) of the air distribution channel (142) flows acrossthe panel (6). The air flow (144) can have a velocity sufficient toremove in part or all foreign matter (7) from the panel (6). The airdistribution channel (142) can be a component constructed separate fromthe body (120) of the panel maintenance unit (5) and connected orremovably connected to the body (120) depending upon the application;however, in particular embodiments the air distribution channel (142)can be integral with the body (120) of the panel maintenance assembly(5).

Sweeps. Now, with general reference to FIGS. 5 through 22 , inparticular embodiments, the body (120) can carry one or more sweeps(123). In particular embodiments, each sweep (123) can include a set ofresiliently deflectable bristles (148) (also referred to as “bristles”)extending from the body (120) such that the bristles (148) can impingeon and can be deflected by the panel (6) or light transmissive layer(32) upon disposing the panel maintenance unit (5) over the panel (6) orlight transmissive layer (32) of the panel (6). The bristles (148) canbe made of a natural or synthetic material and be of greater or lessercoarseness depending upon the application.

Now, with primary reference to FIG. 21 , the sweep (123) can includesubstantially linear bristle retaining channel (149) which carries thebristles (148) of the sweep (123) which can, but need not necessarily,have a width of about one quarter inch to about one inch and a length ofabout seven feet to about ten feet. In particular embodiments, a sweepsupport (150) can be disposed on or in the body (120) allowinginterchangeable replacement of the sweeps (123). A sweep (123) suitablefor use with particular embodiments of the invention can be the same orsimilar to Har-tru Lee, Part No. 0100-136-3669. In in a particularembodiment, one of the first sweep (123A) or the second sweep (123B) cancorrespondingly extend along the length of one of the pair of elongatemembers (135) (136) included in the framework (130) of the panelmaintenance unit (5).

Again, with primary reference to FIGS. 19, 20 and 22 , in particularembodiments, the sweep (123) can, but need not necessarily, comprise acylindrical brush roller (123C). The cylindrical brush roller (123C) cancarry an outwardly extending plurality of bristles (148). Thecylindrical brush roller (123C) can be rotatably mounted upon brushroller bearing surfaces (151) (152) of the body (120) and directlyconnected, or indirectly coupled by a driving belt or gear box, to anelectric motor (153) to rotatingly drive the cylindrical brush roller(123C). In particular embodiments the sweep (123) can include onecylindrical brush roller (123C) continuously extending along the lengthof the body (90). In particular embodiments, a pair of cylindrical brushrollers (123C) can continuously extend along the length of the body(120) in generally parallel spaced apart relation. Each of thecylindrical brush rollers (123C) can comprise one continuous brushroller (1123C) or can comprise two or more cylindrical brush rollers(123C) linearly aligned to provide one sweep (123).

In particular embodiments, as shown in the illustrative example of FIGS.1 and 2 , the panel maintenance assembly (5) can include one or moresweeps (123) having a substantially linear configuration or roller brushconfiguration extending, in whole or in part, between the body first andsecond ends (116) (117) which can correspondingly sweep the surface ofthe panel (6) or light transmissive layer (32). The sweep(s) (123) can,but need not necessarily, extend over the entire length or the width ofthe panel (6) or light transmissive layer (32).

Vibrating Unit. Now referring primarily to FIG. 19 , in particularembodiments, a vibrating unit (154) can, but need not necessarily, beconnected to the body (120) of panel maintenance assembly (5) totransmit vibrations or oscillations through the body (120) of the panelmaintenance assembly (5),or can directly vibrate or oscillate the firstsweep (123A) or the second sweep (123B) or the roller brush (123C). Inparticular embodiments, the vibrating unit (154) can comprise anelectric motor and having a shaft which can be unbalanced by attachmentof an eccentric weight. The vibrating unit (154) the body (120) totransmit vibrations or oscillations to the body (120) of the panelmaintenance unit (5). In particular embodiments, the sweep support (150)can be formed of a deformable resilient material and the vibration unit(154) can be coupled to the first or second sweep (123A) (123B) togenerate movement of the sweep (123) in the deformable resilient sweepsupport (150).

Fluid Ports. Now with primary reference to FIGS. 12, 12B, and 23 , oneor a plurality of fluid ports (125) can be disposed on or in the body(120) of the panel maintenance unit (5). The fluid ports (125) can befluidically coupled by fluid port conduits (155) to one or both of thefluid flow generator (81) or gas flow generator (91). Depending on theapplication, operation of the fluid flow generator (81) or the gas flowgenerator (91), or both, can generate a fluid flow (155) or a gas flow(156) to correspondingly discharge a liquid stream (155A) or a gasstream (156A), or if the gas flow generator (71) comprises a vacuum pump(157), uptake a liquid stream (155A) or a gas stream (156A) through eachof the fluid ports (125). In particular embodiments, a plurality offluid ports (125) can be disposed in fixed immovable spaced apartrelation on or in the body (120) between body first and second ends(116) (117). In particular embodiments, a plurality of fluid ports (125)can be disposed in fixed immovable spaced apart relation between thebody first and second ends (116) (117) and adjacent the sweep (123), ormedially between first and second sweeps (123A) (123B). In particularembodiments, the fluid ports (125) can be configured as spray nozzlegenerating a circular discharge or uptake pattern or one or moreelongate tubular slots which generate an oval or rectangular dischargeor uptake patterns.

Wiper. Now, with primary reference to FIGS. 20 through 22 , inparticular embodiments, the panel maintenance unit (5) can carry one ormore wipers (124) without fluid ports (125) or sweeps (123), or one ormore wipers (124) only with fluid ports (125), or one or more wipers(124) with one or more sweeps (123), or one or more wipers (123) withone or more sweeps (123) and one or more fluid ports (125) in variousfixed spatial configurations.

Each wiper (124) can include an elastomeric blade (158) (also referredto as a “blade”) extending from the body (120) of the panel maintenanceunit (5) such that the blade (158) can impinge on and can be deflectedby the surface of the panel (6) or light transmissive layer (32) of apanel (6). The blade (158) can be produced from a variety ofconventional elastomers to provide a sufficient amount of deflection ofthe blade (158) in contact with the light transmissive layer (32), andas non-limiting examples, the blade (158) can comprise one or more of:general purpose rubber such as silicone base rubber, natural rubber,chloroprene rubber, dimethyl silicone raw rubber, methyl vinyl siliconeraw rubber, methyl phenyl vinyl silicone raw rubber, and fluorosiliconeraw rubber. The hardness of the elastomeric blade after the curing canbe in the range of between about 50 to about 80 Durometer Type A asdefined by JIS-K6253. As to certain embodiments of the invention, theelastomeric blade (158) may function primarily to move foreign matter(7) from the surface of the panel (6) or light transmissive layer (32)of the panel (6) or may function as a squeegee to move liquid on thepanel (6) or the light transmissive layer (32) of the panel (6) whetherresulting from environmental conditions (64) or dispersed from the fluidports (125). While the wiping property of the blade (158) maydeteriorate when the rubber hardness is lower than 50A durometer as wellas higher than 80A durometer (embodiments occurring incrementally in therange), the invention is not so limited, and depending upon theapplication the hardness may be less than 50A or greater than 80A.

In particular embodiments, there may not be a sweep (123) and only onewiper (124) may extend from the body (120) to impinge on the surface ofthe panel (6) or the light transmissive layer (32) of the panel (6). Inparticular embodiments, one wiper (124) can be disposed in generallyparallel adjacent relation to one sweep (123) and optionally fluid ports(125) can be disposed medially between the sweep (123) and the wiper(124). In particular embodiments, a pair of sweeps (123A) (123B) can bedisposed in generally parallel spaced apart relation and one wiper (124)can be disposed in generally parallel spaced apart relation to one ofthe sweeps (123), optionally fluid ports (125) can be disposed mediallybetween the pair of sweeps (123A) (123B). In particular embodiments, apair of wipers (124A) (124B) can be disposed in generally parallelspaced apart relation medially between a pair of sweeps (123A) (123B)and optionally fluid ports (125) can be disposed medially between thepair of wipers (123A) (123B). In particular embodiments, a wiper support(159) can be disposed on or in the body (120) allowing interchangeablereplacement of the wiper (123). In particular embodiments, the sweeps(123) or the wipers (124) can be disposed in relation to the fluid ports(125) to move liquid discharged from the fluid ports (125) onto thepanel (6) or light transmissive layer (32) of the panel (6) and thentoward a fluid catch (82) disposed on the mobile base (3).

Logic Control Unit. Now referring primarily to FIGS. 3 and 4 ,embodiments of the mobile base (3) further include one or more logiccontrol circuits (8) including a logic control processor (159)communicatively coupled to a logic control unit non-transitory computerreadable media (160) (also referred to as the “logic control unitmemory”). The logic control circuits (8) can access and process datareceived from one or more of: the server computer (12), the map database(29), the panel array database (36), the GPS system (21), the RTK system(27), one or more of the client computing devices (11), the navigationsensors (62), and panel maintenance body position sensors (121).

The Navigation Controller. Again, with primary reference to FIGS. 3 and4 , in particular embodiments, the user interface module (47) canoperate to depict a graphical user interface (46′) on the displaysurface (50) of each client computing device (11) in the system (1) toprovide a spatially referenced two or three-dimensional navigation space(159) (also referred to as the “navigation space”). For the purposes ofthis invention, the term “spatially referenced three-dimensionalnavigation space (113)” means a mathematical representation of visualelements within a coordinate system wherein each point within thethree-dimensional navigation space or any visual element therein can beassociated with a location coordinate (x,y) or (x,y,z) and by using acollection of points connected by various geometric entities such aslines, planar surfaces, curved surfaces, or the like, the environmentalsurfaces of geographic areas, and manmade surfaces of buildings,including panel arrays (6′), or panels (6) can be mathematicallyrepresented and converted by the a user interface module (47) intographical representations spatially referenced within the navigationspace (159) which can be depicted on the display surface (50) of eachclient computing device (11) within the system (1). The user interfacemodule (47) includes various known software components for rendering anddisplaying graphics on touch screen or other display, includingcomponents for changing various the visual properties (as examples,brightness, transparency, saturation, contrast or other visual property)of graphics that are displayed. As used herein, the term “graphics”includes any object that can be displayed to a user, including withoutlimitation maps, web pages, digital images, videos, animations, text,icons, user-interface objects such as soft keys, and the like, orcombinations thereof.

By user command (48) in the graphical user interface (47′), a navigationmodule (160) can be activated to depict the navigation space (159) andoperably couple the client computing device (11) to one or more the mapdatabase (29). The navigation module (160) further operates to depict avisual representation of a geographic area (161) wherein each point canbe spatially referenced to location coordinates (26) in the navigationspace (159). The navigation module (160) further depicts navigationcontrols (162) on the display surface (50) of the client computingdevice (11) including a pan control (163A) which allows a user (44) byuser command (48) in the graphical user interface (47′) to directionallymove the visual representation of the geographic area (161) on thedisplay surface (50) (North, South, East, or West) to display areas ofthe visual representation of a geographic area (161) which at thedepicted scale lie outside of the display surface (50). The navigationcontrols (162) can further include an image scale control (163B)operably coupled to the visual representation of the geographic area(161) to allow the visual representation of the geographic area (161) tobe increased or decreased in scale on the display surface (for examplewith a zoom tool). However, these examples of directionally moving andaltering scale of the visual representation of a geographic area (161)are illustrative and other embodiments can allow the visualrepresentation of a geographic area (161) to be directionally moved oraltered in scale by user command (48) including as examples, one or moreof: key stroke, mouse drag, touch drag, voice, or combinations thereof.

Again, by user command (48) in the graphical user interface (47′), thenavigation module (160) can be activated to operably couple the clientcomputing device (1) to the panel array database (36). The navigationmodule (160) further operates to depict a visual representation of thepanel array (164) in the navigation space (161) wherein each point inthe panel array (6′) or an individual panel (6) can be spatiallyreferenced by or to panel array (6′) or panel (6) location coordinates(39) (40).

The Tracking System. Again, with primary reference to FIGS. 3 and 4 ,the navigation module (160) can further function under control of theprocessor (20) (42) to determine the relative origin locationcoordinates (165) of each client computing device (11) and each mobilepanel cleaner (2) in the system (1) by receiving and analyzingcorresponding GPS (21) or RTK (27) signals corresponding received andtransmitted by each computing device (1) and each mobile panelmaintenance unit (2). The navigation module (160) can further functionto depict a map origin location icon (166) in the visual representationof the geographic area (161) at the received GPS (21) or RTK (27)location coordinates (26) of each computing device (11) and each mobilepanel maintenance unit (2). Destination location coordinates (167) foreach mobile panel cleaner (2) can then be entered into the navigationspace (161). In particular embodiments, the destination locationcoordinates (167) can be entered by user command (48) in the navigationspace (161), whether by entry of x,y or x,y,z destination locationcoordinates (26), or can take the form of click event on a geographictarget (168) in the visual representation of the geographic area (161),or by positioning a map destination location icon (166) in the visualrepresentation of the geographic area (161) for each mobile panelcleaner (2). In particular embodiments, entry of destination locationcoordinates (167) can include entry of a plurality of destinationlocation coordinates (167) between the origin location coordinates (165)and the destination location coordinates (167) to corresponding create atravel route (169) for each of a plurality of mobile panel maintenanceunits (2). In particular embodiments, pre-selected destination locationcoordinates (170) or pre-selected travel routes (171) for each mobilepanel maintenance unit (2) can be entered automatically by thenavigation module (161) based on occurrence of one or more: pre-selectedtravel start dates and times, sensed environmental conditions (EC) suchas: temperature, rain, humidity, snow, dew, atmospheric particulate, orthe like), or sensed panel array or panel conditions (such as, solarpanel efficiency, reflectivity of the light transmissive layer, lighttransmissivity of the light transmissive layer, or the like.

In particular embodiments, a tag (172) can be disposed at specificdestination location coordinates (170). As an illustrative example, oneor more tags (172) can be disposed on or proximate a panel (21) or apanel array (20). Each tag (172) can be sensed by a mobile panel cleaner(2) navigation sensors (62). Based on occurrence of the sensed tag(172), or the current panel array data (37) associated with the sensedtag (172), such as: monitored environmental conditions, or monitoredpanel array or panel conditions, the navigation module (160) can furtherfunction to position the mobile panel maintenance unit (2) in relationto the panel (6) to activate a panel cleaning module (173) of theprogram (17) to conduct pre-selected panel maintenance events (188) inmaintenance of the panel (6) or light transmissive layer (32) of thepanel (6), including one or more of: subsequent travel of the mobilebase (3) in relation to the panel (6), movement of the carriage arm (4),and movement of the panel maintenance unit (5) to dispose or maintainthe sweeps (123) or wipers (124) of the panel maintenance unit (44)incident on the panel (6) or light transmissive layer (32), and furthercoordinate operation of sweeps (123) including rotating a roller brushsweep (123C), the vibrating unit (154), the fluid flow generator (81),and to position the fluid catch (82) in relation to the panel (6).

For the purposes of this invention, the term “tag” in particularembodiments means one or more of a location-indicating tag (172 a),object-indicating tag (172 b), or a function-indicating tag (172 c).Without limitation to the breadth of the foregoing, a tag (172) cancomprise any one or more of a sensorially perceivable image, material orsubstance, frequency of currents, electromagnetic waves, sound, andwithout limitation to the breadth of the foregoing: a reflectivematerial or substance, an infra-red absorptive material or substance, anidentifiable image, a radio frequency identification signal, radiofrequency transmission, tone, or the like. Tags (172) can beerror-correctably encoded in the map database (29), panel array database(36) or navigation module (160) to make them tolerant to surface damageor deterioration of tag (172).

A location-indicating tag (172 a) can be associated with a tagidentification (174) which, when translated through the navigationmodule (160) can be associated with tag location coordinates (175) (x,yor x,y,z) in the navigation space (159). The tag-relative locationcoordinates (26) of the mobile panel cleaner (2) can be identified toyield the location of the mobile panel maintenance unit (2) in relationto the panel (6). Location-indicating tags (172 a) therefore support thedetermination of a travel route (169) toward final destination locationcoordinates (167) (x,y or x,y,z) of the mobile panel cleaner (2) inrelation to the panel (6) which can be depicted in the navigation space(159) displayed in the graphical user interface (47′) on the displaysurface (50) of the client computing devices (11). In particularembodiments, the mobile panel maintenance unit (2) can, but need notnecessarily, travel between panels (6) (6′) based on tag-relativelocation coordinates (26) without corresponding GPS (21) or RTK (27)hardware implementations.

An object-indicating tag (172 b) can be associated with a tagidentification (174) which directly identifies a user interface element(176) in the graphical user interface (47′) associated with the taglocation coordinates (175) of the tag (172). As an illustrative example,the identified user interface element (176) could be a manualdirectional control interface element (177) in the graphical userinterface (47′) to temporarily drive the mobile panel cleaner (2) due totemporary conditions between the origin location coordinates (165) andthe destination location coordinates (167) of a mobile panel maintenanceunit (2).

A function-indicating tag (172 c) can be associated with a tagidentification (174) which directly identifies an operation or functionelement (178) within the panel cleaning module (173) to be performed bythe mobile panel maintenance unit (2) or any component thereof,associated with the tag location coordinates (175) of the tag (172). Asan illustrative example, the identified operation element (178) could bethe stepwise movements of the mobile panel cleaner (2), carriage (4), orpanel maintenance assembly (5) currently matched to the tag locationcoordinates (175).

Mapping System. Again, with primary reference to FIGS. 3 and 4 , inparticular embodiments, the program (17) can further include a mappingmodule (179) which functions to control travel of the mobile panelmaintenance unit (2) in a bounded geographic target area (180) togenerate a series of location coordinates (26) defining a geographicsurface area (181) and manmade surface areas (182) within the boundedgeographic target area (180) which can be converted to a visualgeographic representation of the target area (180) and depicted withinthe two or three-dimensional navigation space (159).

In particular embodiments, the user (44) can interactively selectgeographic target area (180) within the visual representation of thegeographic area (161) displayed in the graphical user interface (47′)depicted on the display surface (50) of the client computing device(11). As to particular embodiments, the mapping module (179) allowsentry of location coordinates (26) which can be interconnected by linearor arcuate boundary segments (183) to establish a visual boundary (184)defining the geographic target area (180). In other particularembodiments, the mapping module (179) can display a cursor (185) in thevisual representation of a geographic area (161) which can be moved toestablish the visual boundary (184) about the geographic target area(180). While the visual boundary (184) shown in the example of FIG. 4includes a substantially square visual boundary (184) which bounds anddefines a substantially square geographic target area (180); the user(44) can establish the visual boundary (184) in the visualrepresentation of the geographic area (161) in any manner which boundsat least a portion of the visual representation of the geographic area(161). Subsequently, the mapping module (179) can generate travel of themobile panel maintenance unit (2) within the geographic target area(180). The mapping module (179) can acquire a sequence of the GPS (21)or RTK (27) location coordinates (26) by an in-vehicle GPS receiver (22)or RTK receiver (186) and the corresponding visual representation of thegeographic area (161) can contain the travel route (169) of the mobilepanel maintenance unit (2), which generates matching of locationcoordinates (26) in the coordinate system of the two orthree-dimensional navigation space (159). The GPS (21) or RTK (27)tracking location coordinates (26) may not be sufficient to representprecise panel location coordinates (40) within the navigation space(159) because of an error deviation in the GPS (21) or RTK (27) locationcoordinates (26). However, a collection and the accumulation of a largenumber GPS (212) or RTK (26) location coordinates (26) can allow panellocation coordinates (40) to be statistically derived from the GPS (21)or RTK (27) location coordinates (26) which can be used in coordinationwith navigation sensors (62), tag data (187) and panel array data (37)to generate a map of the geographic target area (180) sufficient indetail to allow operation of the mobile panel cleaner (3) to performpanel maintenance events (188) independent of manual operation by a user(44).

Electronic Data Exchanger. Again, with primary reference to FIGS. 3 and4 , in particular embodiments, the program (17) can operate anelectronic data exchanger (189) which functions to transmit mobile basepairing information (190) to a client computing device (11). Inparticular embodiments, the mobile base (3) can further include a radiofrequency controller (191) which operates a radio frequency transmitter(192) to cause wireless connection or pairing of the mobile base (3)with a client computing device (11) over a short-range radio frequencyband (193) to carry a signal over all or a part of the communicationpath between the mobile base (5) and the client computing device (11).The short-range frequency band (193) can include, as illustrativeexamples: BLUETOOTH® (194) which operates at frequencies of about 2402MHz to about 2480 MHz or about 2400 MHz to about 2483.5 MHz or WI-FI®(195) which operates at about 2.4 GHz or 5 GHz. In other particularembodiments, the mobile base (3) can, but need not necessarily include,a tone generator (196) which generates tones (197) also referred to asan “audio beacon” that provides a signal over the communication pathbetween the mobile base (3) and the client computing device (11).

In particular embodiments, the electronic data exchanger (189) canfurther operate to transmit a base identification code (198) from themobile base (3) to be received by the client computing device (11). Thebase identification code (198) can include a string of data which can becorrespondingly associated with data held in the server (12), the mapdatabase (29) or the panel array database (36), or in a client computingdevice (11).

The base identification code (198) and the associated data string canidentify discrete portions of the data contained in the server (12), themap database (29), the panel array database (36) or a client computingdevice (11) and can include instructions on utilizing those discreteportions of the data. For example, the electronic data exchanger (189)can transmit a string of data such as C12.B1.F1.xx1111.1234 where C12identifies a client computing device (11), and xx1111 can identify orprovide data retrieval information (199) of panel cleaning data (200),and 1234 can identify the panel cleaning conditions (201) to be met toactivate the panel cleaning module (173) which functions to retrieve anddecode the panel cleaning data (200) and perform the panel cleaningevents (188).

For example, the panel cleaning conditions (201) to be met can includeone or more of: location of the mobile base (3) based on one or morelocation coordinates (26) derived by operation of a global signalanalyzer (25) receiving GPS (21) or RTK (27) location coordinates (26)or combinations thereof, from a global positioning receiver (22) or RTKreceiver (186) included in the base unit (3), environmental conditions(64), as above described, pre-selected dates (202) or preselected times(203), or combinations thereof.

Also, as examples, “B1” in the data string can indicate that a battery(213) has sufficient charge to perform the panel maintenance event(188). “R1” in the data string can indicate that the mobile base (3) hasretrieved the panel cleaning data (200) to perform the panel maintenanceevent (188).

In particular embodiments, the electronic data exchanger (189) canfurther operate to transmit a panel maintenance performance notification(203) based on a match of the pre-selected panel cleaning conditions(204) and the current panel cleaning conditions (205). In particularembodiments, base unit (5) can send panel maintenance performancenotification (206) in a string of data, such as,1.2.3.4.5.6.7.8.9.10.11.12 where the data corresponds to one or more of:panel maintenance event location (207), panel maintenance event date(208), or panel maintenance event time (209) and identify the panelmaintenance data (200) which was used in performance of the panelmaintenance event (188), or combinations thereof Alternately, a panelmaintenance event notification (206) can correspond to binaryindications (yes/no) that the panel maintenance event (188) has or hasnot been performed.

Power Management Unit. Now referring primarily to FIG. 3 , in particularembodiments, the mobile base (3) can further include a power managementunit (210) which comprises a power management microcontroller (211)which governs power functions of the mobile base (3). The powermanagement microcontroller (211) includes firmware and software held ina memory element a processor, input/output functions, timers to measureintervals of time, and analog to digital convertors to measure thevoltages of the main battery (212) or power source of the mobile base(3). The power management unit (210) in coordination with the electronicdata exchanger (189) can further operate to transmit a battery statusnotification (213) to the client computing device (11). In particularembodiments, the power management unit (210) can determine batterycharge (214) of the battery (212) and activate a battery chargingcircuit (215).

In particular embodiments, the battery charging circuit (215) can becoupled to a power source (216) such as a 12 Volt direct current source(for example, the electrical system of motor vehicle) or can convert ortransform 110 Volt alternating current to 12 Volt direct current tocharge the battery (212).

Solar Power Module. Again, with primary reference to FIG. 3 , inparticular embodiments, the mobile base unit (3) can further include aphotovoltaic panel (217) which can generate sufficient current over timeto charge the battery (212) or supplement the battery (212) in operatingthe mobile base (3).

Docking Station. Now, with primary reference to FIG. 3 , the panelmaintenance system (1) can, but need not necessarily include, a dockingstation (218) which interfaces with the mobile panel cleaner (2). As toparticular embodiments, the docking station (218) can be disposed inrelation to a panel array (6′) to allow the mobile base (3) to move overthe support surface (9) and dock with the docking station (218). Dockingwith the docking station (218) can include engaging matable portions ofa docking station inlet port (219) and a docking station outlet port(220) of the docking station (218) with corresponding matable portion ofa fluid reservoir inlet (221) and fluid reservoir outlet ports (222) ofthe fluid reservoir (65). The fluid reservoir inlet (221) and fluidreservoir outlet ports (222) can be configured to achieve an opencondition (223) only upon mated engagement with the docking stationinlet (219) and outlet ports (220).

Separation of the fluid reservoir inlet and outlet ports (221) (222) andthe docking station inlet and outlet ports (219) (220) can achieve theclosed condition (224) of the fluid reservoir inlet and outlet ports(221) (222) and the docking station inlet and outlet ports (219) (220).Particular embodiments of the docking station (218) can further includematable portions of a power supply connector (225) (226) which matablyengage when the mobile base (3) docks with the docking station (218).

As can be easily understood from the foregoing, the basic concepts ofthe present invention may be embodied in a variety of ways. Theinvention involves numerous and varied embodiments of a mobile panelmaintenance system and mobile panel cleaner and methods for making andusing such system and mobile panel cleaner including the best mode.

As such, the particular embodiments or elements of the inventiondisclosed by the description or shown in the figures or tablesaccompanying this application are not intended to be limiting, butrather exemplary of the numerous and varied embodiments genericallyencompassed by the invention or equivalents encompassed with respect toany particular element thereof. In addition, the specific description ofa single embodiment or element of the invention may not explicitlydescribe all embodiments or elements possible; many alternatives areimplicitly disclosed by the description and figures.

It should be understood that each element of an apparatus or each stepof a method may be described by an apparatus term or method term. Suchterms can be substituted where desired to make explicit the implicitlybroad coverage to which this invention is entitled. As but one example,it should be understood that all steps of a method may be disclosed asan action, a means for taking that action, or as an element which causesthat action. Similarly, each element of an apparatus may be disclosed asthe physical element or the action which that physical elementfacilitates. As but one example, the disclosure of a “fluid catch”should be understood to encompass disclosure of the act of “fluidcatching”—whether explicitly discussed or not—and, conversely, werethere effectively disclosure of the act of “fluid catching”, such adisclosure should be understood to encompass disclosure of a “fluidcatch” and even a “means for fluid catching.” Such alternative terms foreach element or step are to be understood to be explicitly included inthe description.

In addition, as to each term used it should be understood that unlessits utilization in this application is inconsistent with suchinterpretation, common dictionary definitions should be understood to beincluded in the description for each term as contained in the RandomHouse Webster's Unabridged Dictionary, second edition, each definitionhereby incorporated by reference.

All numeric values herein are assumed to be modified by the term“about”, whether or not explicitly indicated. For the purposes of thepresent invention, ranges may be expressed as from “about” oneparticular value to “about” another particular value. When such a rangeis expressed, another embodiment includes from the one particular valueto the other particular value. The recitation of numerical ranges byendpoints includes all the numeric values subsumed within that range. Anumerical range of one to five includes for example the numeric values1, 1.5, 2, 2.75, 10 3, 3.80, 4, 5, and so forth. It will be furtherunderstood that the endpoints of each of the ranges are significant bothin relation to the other endpoint, and independently of the otherendpoint. When a value is expressed as an approximation by use of theantecedent “about,” it will be understood that the particular valueforms another embodiment. The term “about” generally refers to a rangeof numeric values that one of skill in the art would consider equivalentto the recited numeric value or having the same function or result.Similarly, the antecedent “substantially” means largely, but not wholly,the same form, manner or degree and the particular element will have arange of configurations as a person of ordinary skill in the art wouldconsider as having the same function or result. When a particularelement is expressed as an approximation by use of the antecedent“substantially,” it will be understood that the particular element formsanother embodiment.

Moreover, for the purposes of the present invention, the term “a” or“an” entity refers to one or more of that entity unless otherwiselimited. As such, the terms “a” or “an”, “one or more” and “at leastone” can be used interchangeably herein.

Thus, the applicant(s) should be understood to claim at least: i) eachof the mobile panel maintenance systems or mobile panel cleaners hereindisclosed and described, ii) the related methods disclosed anddescribed, iii) similar, equivalent, and even implicit variations ofeach of these devices and methods, iv) those alternative embodimentswhich accomplish each of the functions shown, disclosed, or described,v) those alternative designs and methods which accomplish each of thefunctions shown as are implicit to accomplish that which is disclosedand described, vi) each feature, component, and step shown as separateand independent inventions, vii) the applications enhanced by thevarious systems or components disclosed, viii) the resulting productsproduced by such systems or components, ix) methods and apparatusessubstantially as described hereinbefore and with reference to any of theaccompanying examples, x) the various combinations and permutations ofeach of the previous elements disclosed.

The background section of this patent application provides a statementof the field of endeavor to which the invention pertains. This sectionmay also incorporate or contain paraphrasing of certain United Statespatents, patent applications, publications, or subject matter of theclaimed invention useful in relating information, problems, or concernsabout the state of technology to which the invention is drawn toward. Itis not intended that any United States patent, patent application,publication, statement or other information cited or incorporated hereinbe interpreted, construed or deemed to be admitted as prior art withrespect to the invention.

The claims set forth in this specification, if any, are herebyincorporated by reference as part of this description of the invention,and the applicant expressly reserves the right to use all of or aportion of such incorporated content of such claims as additionaldescription to support any of or all of the claims or any element orcomponent thereof, and the applicant further expressly reserves theright to move any portion of or all of the incorporated content of suchclaims or any element or component thereof from the description into theclaims or vice-versa as necessary to define the matter for whichprotection is sought by this application or by any subsequentapplication or continuation, division, or continuation-in-partapplication thereof, or to obtain any benefit of, reduction in feespursuant to, or to comply with the patent laws, rules, or regulations ofany country or treaty, and such content incorporated by reference shallsurvive during the entire pendency of this application including anysubsequent continuation, division, or continuation-in-part applicationthereof or any reissue or extension thereon.

Additionally, the claims set forth in this specification, if any, arefurther intended to describe the metes and bounds of a limited number ofthe preferred embodiments of the invention and are not to be construedas the broadest embodiment of the invention or a complete listing ofembodiments of the invention that may be claimed. The applicant does notwaive any right to develop further claims based upon the description setforth above as a part of any continuation, division, orcontinuation-in-part, or similar application.

1. A mobile panel maintenance unit, comprising: a base supported fortranslational motion over a surface; a carriage movably mounted to saidbase; a panel maintenance assembly movably mounted to said carriage; andlogic controller including a processor communicatively coupled to anon-transitory computer readable media containing a program code, saidlogic controller operable to control operation of said mobile panelmaintenance unit.
 2. The mobile panel maintenance unit of claim 1,wherein said logic controller controls translational motion of said baseover said surface, movement of said carriage, or movement of said panelmaintenance assembly, or combinations thereof
 3. The mobile panelmaintenance unit of claim 2, further comprising a global positioningsystem receiver communicatively coupled a global positioning systemwhich under control of a global positioning signal analyzer determineslocation coordinates of said mobile panel maintenance unit on saidsurface, said logic circuitry based on said location coordinates andpanel location coordinates generates translational motion of saidapparatus over said surface to position said apparatus proximate apanel.
 4. The mobile panel maintenance unit of claim 3, furthercomprising a real time kinematics receiver communicatively coupled to abase station operable to broadcast a phase measurement of the carrierwave emitted by said global positioning system, said global positionsignal analyzer compares said phase measurement of said carrier wavereceived by said real time kinematics receiver of said apparatus withsaid phase measurement of said carrier wave received by said stationarybase station, said global position signal analyzer based on comparisonof said phase measurement of said carrier wave calculates locationcoordinates of each mobile panel maintenance unit to said base station.5. The mobile panel maintenance unit of claim 1, further comprising anelectronic data exchanger communicatively coupled through a network to aserver computer operable to serve said program code to said logiccontroller.
 6. The mobile panel maintenance unit of claim 5, whereinsaid electronic data exchanger communicatively coupled through a networkto a panel array database including panel spatial information, includingone or more of geographic panel location coordinates, locationcoordinates of panel dimensional boundaries, location coordinates ofpanel plane orientation.
 7. The mobile panel maintenance unit of claim6, wherein said logic controller compares location coordinates of saidmobile panel maintenance unit on said surface to said panel spatialinformation to position said mobile panel maintenance unit proximate apanel.
 8. The mobile panel maintenance unit of claim 7, wherein saidlogic controller identifies location coordinates of panel dimensionalboundaries or location coordinates of panel plane orientation toposition said panel maintenance assembly in relation to said panelsurface.
 9. The mobile panel maintenance unit of claim 8, wherein saidlogic controller said base, said carriage, or said panel maintenanceassembly, or combinations thereof, to move said panel maintenanceassembly across said panel surface to perform panel maintenance.
 10. Themobile panel maintenance unit of claim 9, further comprising one or morenavigation sensors mounted to said panel maintenance unit to generatepanel surface detection signals which vary based on distance betweensaid panel maintenance unit and a panel surface, said logic controllerprocesses said panel surface detection signals based on said programcode to maintain said panel maintenance assembly in uniform spatialrelation to said panel surface to perform panel maintenance.
 11. Themobile panel maintenance unit of claim 10, wherein said navigationsensors comprise one or more panel maintenance assembly position sensorsmounted proximate said first and second ends of said panel maintenanceassembly.
 12. The mobile panel maintenance unit of claim 1, wherein saidpanel maintenance assembly includes a blower assembly having a blowerdevice connected to an air distribution channel which provides an airflow path, said blower device operable to generate an air flow, saidpanel maintenance assembly under control of said logic controllerpositions said air distribution channel to direct said air flow outwardof said air flow path of said air distribution channel toward a panelsurface.
 13. The mobile panel maintenance unit of claim 12, wherein saidair distribution channel comprises an open-sided channel having saidopen side configured to face said panel surface, said blower connectedto one end of said air distribution channel.
 14. The mobile panelmaintenance unit of claim 1, wherein said panel maintenance assemblyincludes one or more sweeps extending outward of said panel maintenanceassembly, said panel maintenance assembly under control of said logiccontroller positions said sweeps to contact a panel surface.
 15. Themobile panel maintenance unit of claim 14, wherein said one or moresweeps each include a linear bristle retaining channel which carries aplurality of bristles outwardly extending from said linear bristleretaining channel to contact said panel surface.
 16. The mobile panelmaintenance unit of claim 14, wherein said one or more sweeps eachinclude a roller brush rotatably mounted in said panel maintenanceassembly, said roller brush includes a roller which carries a pluralityof bristles, said roller brush operable to rotatingly contact saidplurality of bristles to said panel surface.
 17. The mobile panelmaintenance unit of claim 14, wherein said panel maintenance assemblyincludes vibrating unit to transmit vibrations or oscillations throughsaid panel maintenance assembly to vibrate said one or more sweeps. 18.The mobile panel maintenance unit of claim 1, wherein said panelmaintenance assembly includes one or more fluid ports, said panelmaintenance assembly under control of said logic controller positionsone or more fluid ports to deliver a fluid to a panel surface.
 19. Themobile panel maintenance unit of claim 18, further comprising a fluidreservoir and a fluid flow generator carried by said base, said fluidflow generator operable to generate a fluid flow of said fluid from saidfluid reservoir to said one or more fluid ports.
 20. The mobile panelmaintenance unit of claim 19, further comprising: a fluid temperaturesensor disposed to sense fluid temperature of said fluid; and a fluidheater thermally coupled to said fluid, said logic controller operableto process fluid temperature sensor signals to operate said fluid heaterto maintain a pre-selected fluid temperature.
 21. The mobile panelmaintenance unit of claim 19, wherein said panel maintenance unitfurther comprises one or more wipers extending outward of said panelmaintenance assembly, said panel maintenance assembly under control ofsaid logic controller positions said one or more wipers to contact apanel surface.
 22. The mobile panel maintenance unit of claim 21,further comprising a fluid catch carried by said mobile base, said fluidcatch disposed in spatial relation to a panel by movement of said baseto catch a fluid flowing from said panel.
 23. The mobile panelmaintenance unit of claim 5, wherein said electronic data exchangercommunicatively couples directly or through a network to a clientcomputing device under control of said logic controller executes saidprogram code to: access a map database including geographic spatialinformation to depict a visual representation of a geographic area;access a panel array database including panel array information todepict a visual representation of a panel array in said visualrepresentation of geographic area; and access said global positioningsystem or a real time kinematics system to depict an origin locationicon associated with origin location coordinates of said mobile panelmaintenance unit.
 24. The mobile panel maintenance unit of claim 23,said logic controller executes said program code to depict destinationlocation icon associated with destination location coordinates of saidmobile panel maintenance unit entered by user command in said clientcomputing device, said logic controller operable to generatetranslational motion over said surface between said origin locationcoordinates and said destination location coordinates.